WebSVN - NaviCtrl - Diff - Rev 488 and 489

 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Software Nutzungsbedingungen (english version: see below)
 // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
 // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
 // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
 // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
 // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
 // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
 // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
 // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
 // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
 // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
 // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
 // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand
 // + des Mitverschuldens offen.
 // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
 // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
 // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
 // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
 // +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Software LICENSING TERMS
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
 // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
 // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
 // + The Software may only be used with the Licensor's products.
 // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
 // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
 // + agreement shall be the property of the Licensor.
 u8 CompassCalStateQueue[10];
 fifo_t CompassCalcStateFiFo;
 volatile s16vec_t MagVector;   // is written by mk3mag or ncmag implementation
-volatile s16vec_t MagVector;   // is written by mk3mag or ncmag implementation
+volatile s16vec_t AccVector;   // current acceleration vector of compass, not supported by any HW version
 volatile s16 Compass_Heading;  // is written by mk3mag or ncmag implementation
 volatile u8  Compass_CalState; // is written by mk3mag or ncmag implementation
 s16 Hx = 0, Hy = 0;
 #define COMPASS_NONE    0
 #define COMPASS_MK3MAG  1
 #define COMPASS_NCMAG   2
+u8 Compass_Device = COMPASS_NONE;
-u8 Compass_Device = COMPASS_NONE;
+I2C_TypeDef* Compass_I2CPort = I2C1;
 void Compass_Init(void)
+{
         switch(Compass_Device)
+        {
                 case COMPASS_NONE:
                         UART1_PutString("\r\n Looking for compass");
-                        if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
-                        else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
-/*                      if(Version_HW > 11)
-                        {
-                                if(      NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
-                                else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;
-                        }
-                        else
-                        {
-                                if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
-                                else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
                         if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
-*/
+                        else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
-                        break;
                         break;
                 case COMPASS_NCMAG:
-                        UART1_PutString("\r\n Re-Init compass");
+                case COMPASS_NCMAG:
                         if( NCMAG_Init() )      Compass_Device = COMPASS_NCMAG;
+                        else                            Compass_Device = COMPASS_NONE;
+                        break;
+                case COMPASS_MK3MAG:
-                        else                            Compass_Device = COMPASS_NONE;
+                        if( MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
-                        break;
+                        else                            Compass_Device = COMPASS_NONE;
                         break;
                 case COMPASS_MK3MAG:
                 default:
                         // nothing to do
+                        break;
+        }
+        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);
                         break;
+        if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT;
+        MagVector.X = 0;
+        MagVector.Y = 0;
+        MagVector.Z = 0;
+        Compass_Heading = -1;
+}
+void Compass_Check(void)
+{
+        switch(Compass_Device)
+        {
+                case COMPASS_NCMAG:
+                        NCMAG_CheckOrientation();
+                        break;
                 case COMPASS_MK3MAG:
-        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);
+                case COMPASS_NONE:
                 default:
-        if(Compass_Device == COMPASS_MK3MAG) UART_VersionInfo.Flags |= NC_VERSION_FLAG_MK3MAG_PRESENT; else UART_VersionInfo.Flags &= ~NC_VERSION_FLAG_MK3MAG_PRESENT;
+                        // nothing to do
+}
 void Compass_Update(void)
+{
 static s16vec_t old;
 static u32 check_value_counter = 0;
         // check for new cal state
         Compass_UpdateCalState();
         if(Compass_CalState) FC_is_Calibrated = 0;
         // initiate new compass communication
         switch(Compass_Device)
+        {
-                case COMPASS_MK3MAG:
-                        MK3MAG_Update();
-                        DebugOut.Analog[24] = MagVector.X;
-                        DebugOut.Analog[25] = MagVector.Y;
+                case COMPASS_MK3MAG:
-                        DebugOut.Analog[26] = MagVector.Z;
+                        MK3MAG_Update();
-                        break;
-                case COMPASS_NCMAG:
-                        if(check_value_counter == 2000)
-                         {
-                          UART1_PutString("\n\r Init Mag.-Sensor");
-                          InitNC_MagnetSensor(); // 2 seconds no change of the compass value
+                        break;
-                         }
-                        else NCMAG_Update(0);
-                        DebugOut.Analog[24] = MagRawVector.X;
+                case COMPASS_NCMAG:
-                        DebugOut.Analog[25] = MagRawVector.Y;
+                        NCMAG_Update(0);
-                        DebugOut.Analog[26] = MagRawVector.Z;
+                        break;
                 default:
-                        break;
+                        break;
+        }
+        DebugOut.Analog[24] = MagVector.X;
+        DebugOut.Analog[25] = MagVector.Y;
+        DebugOut.Analog[26] = MagVector.Z;
-        }
-    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
+    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normaly changing
+        if(check_value_counter == 2000)
+        {
-        if(check_value_counter > 5000)
+                UART1_PutString("\n\r Init Mag.-Sensor");
+                Compass_Init(); // 2 seconds no change of the compass value
+        }
-         {
+        else if(check_value_counter > 5000)
-          Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
+        {
-//        CompassValueErrorCount = 35;
+                Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
+        }
-         else check_value_counter++;
+        else check_value_counter++;

Subversion Repositories NaviCtrl

(root)/tags/V2.10a/compass.c @ 628 - Rev 488 → 489